From d755eba8943d42bb01e582d44ce579a4167f99c0 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Tue, 2 Apr 2024 09:48:54 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=9B=BA=E9=AB=98=E6=80=BB?=
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---
 Rs.Motion/GugaoEcat/ECatIOCard.cs | 11 ++++++++++-
 Rs.Motion/IoManager.cs            | 21 +++++++++++++++++++--
 2 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/Rs.Motion/GugaoEcat/ECatIOCard.cs b/Rs.Motion/GugaoEcat/ECatIOCard.cs
index f7c02de..9cc01c6 100644
--- a/Rs.Motion/GugaoEcat/ECatIOCard.cs
+++ b/Rs.Motion/GugaoEcat/ECatIOCard.cs
@@ -1,4 +1,6 @@
-using Rs.Motion.Base;
+using Rs.Framework;
+using Rs.Motion.Base;
+using Rs.Motion.GugaoPulse;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -44,6 +46,13 @@ namespace Rs.Motion.GugaoEcat
                 io.Name = "In" + i + "_" + slaveNo;
                 DIn.Add(io);
             }
+
+
+        }
+        public override void Save()
+        {
+            string filename = $"config/motion/io/gugao_ecat{CardID}.xml";
+            XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, this);
         }
     }
 }
diff --git a/Rs.Motion/IoManager.cs b/Rs.Motion/IoManager.cs
index 6179ebf..44a5e91 100644
--- a/Rs.Motion/IoManager.cs
+++ b/Rs.Motion/IoManager.cs
@@ -206,7 +206,16 @@ namespace Rs.Motion
                         ECatIO eio = (ECatIO)io;
                         apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
                         if (apiResult == 0)
-                            return pValue;
+                        {
+                            if (io.IsReverse)
+                            {
+                                return (short)((~pValue) & 0x01);
+                            }
+                            else
+                            {
+                                return pValue;
+                            }
+                        }
                     }
                     else
                     {
@@ -215,7 +224,15 @@ namespace Rs.Motion
                         if (apiResult == 0)
                         {
                             byte pValue = (byte)(~(value >> eio.Index) & 0x01);
-                            return pValue;
+                            if(io.IsReverse)
+                            {
+                                return (short)((~pValue) & 0x01);
+                            }
+                            else
+                            {
+                                return pValue;
+                            }
+                            
                         }
                     }
                 }